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add local_planner_params to wpb_home

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zhangwanjie 2021-04-30 20:59:07 +08:00
parent af1a152669
commit a6b1324b8a
3 changed files with 3 additions and 0 deletions
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1
launch/wpb_map_tool.launch
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@ -46,6 +46,7 @@
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_planner_params.yaml" command="load" />
<param name="base_global_planner" value="global_planner/GlobalPlanner" /> <param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="use_dijkstra" value="true"/> <param name="use_dijkstra" value="true"/>
<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" /> <param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />

1
launch/wpb_navigation.launch
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@ -46,6 +46,7 @@
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_planner_params.yaml" command="load" />
<param name="base_global_planner" value="global_planner/GlobalPlanner" /> <param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="use_dijkstra" value="true"/> <param name="use_dijkstra" value="true"/>
<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" /> <param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />

1
launch/wpb_scene_1.launch
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@ -65,6 +65,7 @@
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_planner_params.yaml" command="load" />
<param name="base_global_planner" value="global_planner/GlobalPlanner" /> <param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="use_dijkstra" value="true"/> <param name="use_dijkstra" value="true"/>
<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" /> <param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />